Working machine and working device
A raking machine includes a traveling vehicle, a rake coupled to the traveling vehicle to rake grass in an agricultural field and form a swath, a sensor to obtain a state of the grass or the swath in the agricultural field, and a controller to change, when the rake performs raking, setting information regarding the rake based on the state obtained by the sensor.
1 . A working machine comprising:
a traveling vehicle;
a working device coupled to the traveling vehicle to rake grass in an agricultural field and form a swath;
a sensor to obtain a state of the grass or the swath in the agricultural field; and
a controller to, when the working device performs raking, change one or more pieces of setting information regarding the working device based on the state obtained by the sensor, wherein
the sensor includes at least one imager to obtain imaging data by capturing an image of the state of the grass or the swath in the agricultural field;
the controller is configured or programmed to change the one or more pieces of setting information regarding the working device based on the imaging data obtained by the at least one imager;
the at least one imager includes a first imager to obtain imaging data by capturing an image of the state of the swath formed by the working device;
the working device includes a rake assembly including a body, a rotor rotatably supported by the body, tine arms coupled to the rotor and radially extending from the rotor, one or more tines coupled to each of the tine arms and extending downward, and a plate to form the swath;
the controller is configured or programmed to change the one of the one or more pieces of setting information regarding the working device that indicates a clearance between the plate and the body based on the imaging data of the work product obtained by the first imager and indicating the state of the formed swath; and
the controller is configured or programmed to:
(i) change the one or more pieces of setting information to first setting information to pull out the plate so that the clearance achieves an increased distance indicated by the first setting information if the controller determines that a width of the swath indicated by the imaging data is smaller than or equal to a first lower limit width;
(iia) change the one or more pieces of setting information to second setting information to push inward the plate so that the clearance achieves a reduced distance indicated by the second setting information if the controller determines, after determining that the width of the swath indicated by the imaging data is not smaller than or equal to the first lower limit width, that the swath indicated by the imaging data has a two-pile shape;
(iib) change the one or more pieces of setting information to the second setting information to push inward the plate so that the clearance achieves the reduced distance indicated by the second setting information if the controller determines, after determining that the width of the swath indicated by the imaging data is not smaller than or equal to the first lower limit width and the swath indicated by the imaging data does not have the two-pile shape, that the width of the swath indicated by the imaging data is larger than or equal to the first upper limit width; and
(iii) employ current setting information if the controller determines that the swath indicated by the imaging data does not have the two-pile shape, the width of the swath is not larger than or equal to the first upper limit width, and the width of the swath is not smaller than or equal to the first lower limit width.
2 . The working machine according to claim 1 , wherein
the at least one imager includes a second imager to obtain imaging data by capturing an image of the state of the grass in the agricultural field; and
the controller is configured or programmed to change the one or more pieces of setting information regarding the working device based on the imaging data which is pre-work imaging data obtained by the second imager before raking is performed and indicating the state of the grass in the agricultural field.
3 . The working machine according to claim 2 , wherein
the working device includes a rake assembly including a body, a rotor rotatably supported by the body, tine arms coupled to the rotor and radially extending from the rotor, one or more tines coupled to each of the tine arms and extending downward, and a plate to form the swath; and
the controller is configured or programmed to change one of the one or more pieces of setting information regarding the working device that indicates a clearance between the plate and the body based on the pre-work imaging data.
4 . The working machine according to claim 2 , wherein
the working device includes a rake assembly including a body, a rotor rotatably supported by the body, tine arms coupled to the rotor and radially extending from the rotor, and one or more tines coupled to each of the tine arms and extending downward; and
the controller is configured or programmed to change one of the one or more pieces of setting information regarding the working device that indicates a distance between a lower end of the rake assembly and the agricultural field based on the pre-work imaging data.
5 . The working machine according to claim 2 , wherein
the working device includes a rake assembly including a body, a rotor rotatably supported by the body, tine arms coupled to the rotor and radially extending from the rotor, and one or more tines coupled to each of the tine arms and extending downward; and
the controller is configured or programmed to change one of the one or more pieces of setting information regarding the working device that indicates a travel speed of the traveling vehicle based on the pre-work imaging data.
6 . The working machine according to claim 2 , wherein
the traveling vehicle includes a prime mover and a power take-off shaft driven by power from the prime mover;
the working device includes a rake assembly including a body, a rotor which is rotatably supported by the body and to which power from the power take-off shaft is transmitted, tine arms coupled to the rotor and radially extending from the rotor, and one or more tines coupled to each of the tine arms and extending downward; and
the controller is configured or programmed to change one of the one or more pieces of setting information regarding the working device that indicates a rotation speed of the power take-off shaft based on the pre-work imaging data.
7 . The working machine according to claim 1 , wherein
the at least one imager includes a first imager to obtain imaging data by capturing an image of the state of the swath formed by the working device and a second imager to obtain imaging data by capturing an image of the state of the grass in the agricultural field; and
the controller is configured or programmed to change the one or more pieces of setting information regarding the working device based on the imaging data of a work product obtained by the first imager and indicating the state of the swath, and the imaging data which is pre-work imaging data obtained by the second imager before raking is performed and indicating the state of the grass in the agricultural field.
8 . The working machine according to claim 1 , wherein
the traveling vehicle includes a prime mover and a power take-off shaft driven by power from the prime mover;
the working device includes a rake assembly including a body, a rotor which is rotatably supported by the body and to which power from the power take-off shaft is transmitted, tine arms coupled to the rotor and radially extending from the rotor, and one or more tines coupled to each of the tine arms and extending downward; and
the controller is configured or programmed to change one of the one or more pieces of setting information regarding the working device that indicates a rotation speed of the power take-off shaft based on the imaging data of the work product.
9 . The working machine according to claim 1 , further comprising:
a position sensor to obtain measured position information; wherein
the controller is configured or programmed to:
obtain one or more pieces of imaging data in a tedding step preceding a raking step, the one or more pieces of imaging data being associated with one or more pieces of positional information indicating one or more positions at which the one or more pieces of imaging data have been obtained and
change the one or more pieces of setting information regarding the working device based on one of the obtained one or more pieces of imaging data that corresponds to one of the one or more pieces of positional information that matches the measured position information obtained by the positioning device.
10 . The working machine according to claim 1 , further comprising:
a position sensor to obtain measured position information;
a memory; and
a communicator; wherein
the controller is configured or programmed to generate work product record data in which the measured position information obtained by the positioning device and the imaging data of the work product are associated with each other, cause the memory to store the work product record data, and cause the communicator to transmit the work product record data stored in the memory to an external information processor.